CN111460590B - Power transmission performance optimization method of driving mechanical leg mechanism - Google Patents
Power transmission performance optimization method of driving mechanical leg mechanism Download PDFInfo
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- CN111460590B CN111460590B CN202010237959.2A CN202010237959A CN111460590B CN 111460590 B CN111460590 B CN 111460590B CN 202010237959 A CN202010237959 A CN 202010237959A CN 111460590 B CN111460590 B CN 111460590B
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Abstract
The invention belongs to the field of automatic driving, and particularly relates to a power transmission performance optimization method of a driving mechanical leg mechanism. The method comprises the following steps: firstly, drawing a motion diagram of a driving mechanical leg mechanism according to the structural characteristics of the driving mechanical leg mechanism; then establishing a dynamic model of a driving mechanical leg mechanism; defining a global power transmission performance index of a driving mechanical leg mechanism based on a dynamic model; the method comprises the steps of taking the size parameters of the driving mechanical leg mechanism as design variables, taking global power transmission performance indexes as optimization targets, establishing a power transmission performance optimization model of the driving mechanical leg mechanism, finally solving the optimization model by using a particle swarm optimization algorithm, and determining the optimal size parameters of the driving mechanical leg mechanism. The method provided by the invention improves the power transmission performance of the driving mechanical leg mechanism.
Description
Technical Field
The invention belongs to the field of automatic driving, and particularly relates to a power transmission performance optimization method of a driving mechanical leg mechanism.
Background
The driving mechanical leg can simulate human beings to finish the pedaling action of the vehicle or the engineering machinery, realizes the operations of braking, accelerating and the like of the vehicle or the engineering machinery, can be used in automatic driving as a part of a driving robot, and can also be independently used in operation tests of braking, accelerating and the like.
Chinese patent CN 103631144B discloses an electromagnetic drive automobile driving robot, wherein a driving mechanical leg mechanism of the driving robot adopts a linear driving mode, and has no intermediate speed reducing mechanism, and the driving robot has the advantages of high transmission efficiency, high speed and the like. Chinese patent CN 205719571U discloses a mechanical leg mechanism for driving, which also adopts linear driving, wherein one end of a linear motor is fixed in a chassis, and the other end is connected with the mechanical leg mechanism.
The power transmission performance of the driving mechanical leg mechanism is related to the force transmission efficiency of the mechanism and is one of the important performances of the mechanism, so that the optimization of the power transmission performance of the driving mechanical leg mechanism has important significance for improving the force transmission efficiency of the driving mechanical leg mechanism, but a corresponding research method is not available at present.
Disclosure of Invention
The invention aims to provide a method for optimizing the power transmission performance of a driving mechanical leg mechanism, which can optimize the size parameters of the driving mechanical leg mechanism and improve the power transmission performance of the driving mechanical leg mechanism.
The technical solution for realizing the purpose of the invention is as follows: a power transmission performance optimization method of a driving mechanical leg mechanism comprises the following steps:
step 1, drawing a motion sketch of a driving mechanical leg mechanism according to the structural characteristics of the driving mechanical leg mechanism;
step 2, establishing a dynamic model of the driving mechanical leg mechanism;
step 3, defining a global power transmission performance index based on a driving mechanical leg mechanism dynamic model;
step 4, establishing a power transmission performance optimization model of the driving mechanical leg mechanism by taking the size parameters of the driving mechanical leg mechanism as design variables and the global power transmission performance index as an optimization target;
and 5, solving the power transmission performance optimization model of the driving mechanical leg mechanism by using a particle swarm optimization algorithm to obtain the optimal size parameter of the driving mechanical leg mechanism.
Further, the step 2 establishes a dynamic model of the driving mechanical leg mechanism as follows:
F a ＝M a a+C a v-J f f d +G a
in the above formula, v, a, f d Respectively, the speed, acceleration and pedal resistance of the end of the leg mechanism of the driving machine, F a Indicates a mechanism driving force, C a 、M a And J f Coriolis coefficient, inertia coefficient and load force coefficient, respectivelyShows the influence of the unit stepping speed, acceleration and load force of the end of the leg mechanism on the driving force of the mechanism, G a Is the gravity-affected part of the driving force of the driving mechanical leg mechanism.
Further, the step 3 defines a global power transmission performance index f of the driving mechanical leg mechanism as follows:
in the formula, S is the pedal travel range of the driving mechanical leg mechanism; the smaller the value of f, the better the power transmission performance of the entire leg mechanism.
Further, the power transmission performance optimization model of the driving mechanical leg mechanism established in the step 4 is
Designing variables: l 1 、l 2 、l 3 、d 1 、y a ；
An objective function: f;
constraint conditions are as follows:
in the above formula, l 1 、l 2 、l 3 、l 4 、d 1 、d 2 For the size parameter of the leg mechanism of the steering mechanism, (x) a ,y a )、(x c ,y c )、(x d ,y d ) The position coordinates of joints A, C and D of the leg mechanism of the driving machine are respectively.
Compared with the prior art, the invention has the remarkable advantages that:
the method takes the power transmission performance as an optimization target, improves the power transmission performance of the mechanism by optimally designing the size parameters of the leg mechanism of the driving machine, achieves the effect of improving the power transmission efficiency of the mechanism, and solves the problem that the power transmission performance optimization design method of the leg mechanism of the driving machine is lacked at present.
Drawings
FIG. 1 is a flow chart of a method for optimizing power transmission performance of a leg mechanism of a driving machine according to the present invention.
Fig. 2 is a schematic diagram of the movement of the leg mechanism of the driving machine.
Fig. 3 is a graph showing a variation of a stepping parameter when a leg of the driving machine performs a stepping operation, in which (a) is a stepping stroke variation curve and (b) is a pedal resistance variation curve.
FIG. 4 is a graph for optimizing the driving force comparison between the front and rear driving mechanical leg mechanisms.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
With reference to fig. 1, a method for optimizing power transmission performance of a leg mechanism of a steering mechanism includes the following steps:
step 1, drawing a mechanism schematic diagram of the driving mechanical leg mechanism according to the structural characteristics of the driving mechanical leg mechanism.
Step 2, establishing a dynamic model of a driving mechanical leg mechanism;
step 3, defining power transmission performance indexes according to a driving mechanical leg mechanism dynamic model;
step 4, establishing a power transmission performance optimization model of the driving mechanical leg mechanism by taking the size parameters of the driving mechanical leg mechanism as design variables and the global power transmission performance index as an optimization target;
and 5, solving the power transmission performance optimization model of the driving mechanical leg mechanism by using a particle swarm optimization algorithm to obtain the optimal size parameter of the driving mechanical leg mechanism.
In step 1, a motion diagram of the driving mechanical leg mechanism is drawn, as shown in fig. 2. Wherein the pedal is simplified to a rocker O 2 D. Joint O 1 And joint O 2 Is a base joint, and the global coordinate system O-xy is fixed on the base joint O 1 The center, joint A is the drive joint, parallel to the x-axis output linear motion. For convenience of explanation, the leg link AB, link OC, link CD and pedal rocker O of the driving machine 2 D records separatelyA connecting rod 1, a connecting rod 2, a connecting rod 3 and a connecting rod 4.l i And theta i The length and the angle of rotation of the connecting rod i (i =1,2,3, 4), respectively. Joint O 1 D is the distance from the fixed point B' on the connecting rod 2 1 D is the distance between the joint B and the fixed point B 2 And vector BB' is perpendicular to vector OC.
In step 2, the pedal resistance is set to f d The stepping speed at the tail end of the leg mechanism of the driving machine is v, the acceleration a and the driving force F a A Lagrange modeling method is adopted to establish a dynamic model formula as follows:
F a ＝M a a+C a v-J f f d +G a
in the above formula, C a 、M a And J f Respectively representing the influence of the tail end unit treading speed, acceleration and load force of the leg mechanism of the driving machine on the driving force of the leg mechanism of the driving machine, G a Is the gravity-affected part of the driving force of the driving mechanical leg mechanism.
In step 3, according to the dynamic model, the driving force of the driving mechanical leg mechanism is mainly divided into four parts: a speed-affecting portion, an acceleration-affecting portion, a pedal resistance-affecting portion, and an acceleration-affecting portion. Considering that the speed change is far smaller than the acceleration change when the leg mechanism of the driving mechanism performs the stepping action, and the leg mechanism of the driving mechanism is made of light materials, and the gravity influence part is small. Therefore, the power transmission performance of the leg mechanism for driving a vehicle is mainly related to the acceleration-influencing portion and the pedal resistance-influencing portion. Considering inertial coefficient M in dynamic model of driving mechanical leg mechanism a And coefficient of load force J f Respectively reflects the magnitude of the driving force of the mechanism required by the tail end of the mechanism to generate a unit acceleration or receive a unit pedal resistance, so that M is equal to M a And J f The maximum value of the sum of absolute values of the two is used as a global power transmission performance index of the driving mechanical leg mechanism to measure the power transmission performance of the mechanism:
in the above formula, S is the pedal stroke range of the leg mechanism for driving the vehicle. The smaller the value of f, the better the power transmission performance of the entire leg mechanism.
In step 4, the established power transmission performance optimization model of the driving mechanical leg mechanism comprises three components of a design variable, an objective function and a constraint condition.
All-area power transmission performance index considering mechanical leg mechanism and mechanism connecting rod size parameter l 1 、l 2 、l 3 、d 1 、d 2 And an active joint A 1 Ordinate y of a It is related. Wherein d is 2 =25mm constant, so the machine design variable can be determined as l 1 、l 2 、l 3 、d 1 、y a 。
According to the space requirements of a cab and a seat and the past design experience, the value range of the design variable (unit: mm) of a driving mechanical leg mechanism is determined as follows: l is not less than 50 1 ≤120，100≤l 2 ≤240，50≤d 1 ≤120，60≤y a ≤180。
As shown in FIG. 2, the driving leg mechanism is required to satisfy the geometrical triangles Δ OAB, Δ OCD and Δ CDO when moving 2 The specific constraint of the trilateral constraint relationship is as follows:
in step 4, establishing a multi-objective optimization model of the driving mechanical leg mechanism specifically comprises the following steps:
designing variables: l. the 1 、l 2 、l 3 、d 1 、y a ；
An objective function: f;
constraint conditions are as follows:
in step 6, solving a power transmission performance optimization model of the driving mechanical leg mechanism by utilizing a particle swarm optimization algorithm to obtain an optimized size l of the driving mechanical leg mechanism 1 ＝120mm、l 2 ＝102mm、l 3 ＝424mm、d 1 ＝116mm、y a ＝122mm。
Comparing and verifying the motion transfer performance of the gear shifting manipulator mechanism before and after optimization, wherein the size before optimization of the driving mechanical leg mechanism is l 1 ＝120mm、l 2 ＝180mm、l 3 ＝500mm、d 1 ＝80mm、y a =96mm. The stroke curve and the pedal reaction force curve of the leg mechanism for driving the vehicle to perform the pedaling operation are shown in fig. 3, and the leg mechanism for driving the vehicle optimizes the driving force variation curve before and after the pedal operation as shown in fig. 4. It can be understood from fig. 4 that the driving force is reduced significantly in the whole stepping process after the driving mechanical leg mechanism is optimized, the maximum driving force before optimization is about 300N, and the maximum driving force after optimization is about 130N. Therefore, it can be concluded that the power transmission efficiency of the optimized leg mechanism for driving is greatly improved, i.e., the power transmission performance is greatly improved.
Claims (1)
1. A power transmission performance optimization method of a driving mechanical leg mechanism is characterized by comprising the following steps:
step 1, drawing a motion diagram of a driving mechanical leg mechanism according to the structural characteristics of the driving mechanical leg mechanism;
step 2, establishing a dynamic model of the driving mechanical leg mechanism;
step 3, defining a global power transmission performance index based on a driving mechanical leg mechanism dynamic model;
step 4, establishing a power transmission performance optimization model of the driving mechanical leg mechanism by taking the size parameters of the driving mechanical leg mechanism as design variables and the global power transmission performance index as an optimization target;
step 5, solving the power transmission performance optimization model of the driving mechanical leg mechanism by using a particle swarm optimization algorithm to obtain the optimal size parameter of the driving mechanical leg mechanism;
step 2, establishing a dynamic model of the driving mechanical leg mechanism as follows:
F a ＝M a a+C a v-J f f d +G a
in the above formula, v, a, f d Speed, acceleration and pedal resistance, respectively, of the end of the leg mechanism of the driving machine, F a Indicates a mechanism driving force, C a 、M a And J f Coriolis coefficient, inertia coefficient and load force coefficient respectively, showing the influence of unit stepping speed, acceleration and load force of leg mechanism on the driving force of the driving mechanism, G a Is a gravity-affected part in the driving force of the driving mechanical leg mechanism;
the step 3 defines the global power transmission performance index f of the driving mechanical leg mechanism as follows:
in the formula, S is the pedal travel range of the driving mechanical leg mechanism; the smaller the value of f is, the better the power transmission performance of the whole driving mechanical leg mechanism is;
the power transmission performance optimization model of the driving mechanical leg mechanism established in the step 4 is
Designing variables: l 1 、l 2 、l 3 、d 1 、y a ；
An objective function: f;
constraint conditions are as follows:
in the above formula, l 1 、l 2 、l 3 、l 4 、d 1 、d 2 For the leg mechanism dimensional parameters of the steering mechanism, (x) a ,y a )、(x c ,y c )、(x d ,y d ) The position coordinates of joints A, C and D of the leg mechanism of the driving machine are respectively.
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Inventor after: Chen Gang Inventor after: Chen Shoubao Inventor after: Yuan Jing Inventor after: Gu Aibo Inventor after: Zhang Jie Inventor after: Wang Liangmo Inventor after: Wang Tao Inventor before: Chen Shoubao Inventor before: Chen Gang Inventor before: Yuan Jing Inventor before: Gu Aibo Inventor before: Zhang Jie Inventor before: Wang Liangmo Inventor before: Wang Tao |
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Application publication date: 20200728 Assignee: FENGFAN NEW ENERGY AUTOMOTIVE TECHNOLOGY (TAICANG) Co.,Ltd. Assignor: NANJING University OF SCIENCE AND TECHNOLOGY Contract record no.: X2023980043932 Denomination of invention: An Optimization Method for Power Transmission Performance of Driving Mechanical Leg Mechanism Granted publication date: 20221028 License type: Common License Record date: 20231020 |